System for assisting right turn of vehicle based on UWB communication and V2X communication at intersection, and operation method thereof

Abstract

A system for assisting a right turn of a vehicle based on UWB communication and V2X communication at an intersection, and an operation method thereof are disclosed. The right-turn assisting system includes first communication devices configured to estimate positions of candidate terminals around an intersection through a first communication protocol. The right-turn assisting system includes a second communication device configured to receive the positions of the candidate terminals, and transmit the positions of the candidate terminals, map information, and signal information. The right-turn assisting system includes a vehicle-mounted device configured to receive the message, determine a risk of collision between a terminal of interest among the candidate terminals and the vehicle based on candidate terminal information in response to determination of at least one of an intersection approach of the vehicle or a turning intention of the vehicle, and warn of the risk of collision with the terminal of interest.

What is claimed is: 
     
       1. A right-turn assisting system for preventing a collision between a vehicle and a pedestrian at an intersection, the system comprising:
 first communication devices configured to estimate positions of candidate terminals among terminals around an intersection through a first communication protocol; 
 a second communication device configured to receive the positions of the candidate terminals from the first communication devices, and transmit a message including the positions of the candidate terminals, map information, and signal information; and 
 a vehicle-mounted device configured to receive the message, determine a risk of collision between a terminal of interest among the candidate terminals and the vehicle based on candidate terminal information including the positions of the candidate terminals, the map information, and the signal information in response to determination of at least one of an intersection approach of the vehicle or a turning intention of the vehicle, and warn of the risk of collision with the terminal of interest. 
 
     
     
       2. The system of  claim 1 , wherein the first communication devices comprise a third communication module having a lower power and a wider communication range than the first communication protocol, and wherein the first communication devices are further configured to designate terminals connected to the third communication module among the terminals around the intersection as the candidate terminals. 
     
     
       3. The system of  claim 2 , wherein the first communication devices are further configured to estimate the positions of the candidate terminals based on priority according to an intensity of a signal received by the third communication module. 
     
     
       4. The system of  claim 1 , wherein the vehicle-mounted device is further configured to:
 obtain a stop line position of the intersection from the map information; 
 determine an approach distance from the vehicle to the stop line position; and 
 determine that the vehicle is approaching the intersection in response to the approach distance being shorter than a preset first threshold distance. 
 
     
     
       5. The system of  claim 1 , wherein the vehicle-mounted device is further configured to determine the turning intention of the vehicle based on at least one of a turn signal of the vehicle, a navigation route, lane information, or the signal information. 
     
     
       6. The system of  claim 1 , wherein the vehicle-mounted device is further configured to:
 classify movement types of the candidate terminals according to positions and directions relative to the vehicle; and 
 select a candidate terminal having a target movement type among the candidate terminals as the terminal of interest. 
 
     
     
       7. The system of  claim 1 , wherein the vehicle-mounted device is further configured to:
 identify crosswalk areas of the intersection from the map information; 
 determine, as an expected movement area, at least one of the crosswalk areas based on a position and a direction of the terminal of the interest; 
 determine that the expected movement area is a dangerous area based on a crosswalk signal for the expected movement area; and 
 determine the risk of collision between the vehicle and the terminal of interest in the dangerous area. 
 
     
     
       8. The system of  claim 7 , wherein the vehicle-mounted device is configured to determine that the expected movement area is the dangerous area in response to the crosswalk signal being a pedestrian signal. 
     
     
       9. The system of  claim 7 , wherein the vehicle-mounted device is configured to determine the risk of collision based on whether the terminal of interest has entered the dangerous area and based on a vehicle speed. 
     
     
       10. The system of  claim 7 , wherein the vehicle-mounted device is configured to determine the risk of collision based on whether a direction of the terminal of interest intersects a predicted path of the vehicle within the dangerous area, and based on a vehicle speed. 
     
     
       11. A method of operating a right-turn assisting system for preventing a collision between a vehicle and a pedestrian at an intersection, the method comprising:
 estimating, by first communication devices, positions of candidate terminals among terminals around an intersection through a first communication protocol; 
 receiving, by a second communication device, the positions of the candidate terminals from the first communication devices; 
 transmitting, by the second communication device, a message including the positions of the candidate terminals, map information, and signal information; 
 receiving, by a vehicle-mounted device, the message; 
 determining, by the vehicle-mounted device, a risk of collision between a terminal of interest among the candidate terminals and the vehicle based on candidate terminal information including the positions of the candidate terminals, the map information, and the signal information in response to determination of at least one of an intersection approach of the vehicle or a turning intention; and 
 warning, by the vehicle-mounted device, of the risk of collision with the terminal of interest. 
 
     
     
       12. The method of  claim 11 , further comprising:
 designating, by the first communication devices, terminals connected to a third communication module among the terminals around the intersection as the candidate terminals, wherein the third communication module has a lower power and a wider communication range than the first communication protocol. 
 
     
     
       13. The method of  claim 12 , wherein the estimating of the positions of the candidate terminals includes estimating, by the first communication devices, the positions of the candidate terminals based on priority according to an intensity of a signal received by the third communication module. 
     
     
       14. The method of  claim 11 , further comprising:
 obtaining, by the vehicle-mounted device, a stop line position of the intersection from the map information; 
 determining, by the vehicle-mounted device, an approach distance from the vehicle to the stop line position; and 
 determining, by the vehicle-mounted device, that the vehicle is approaching the intersection in response to the approach distance being shorter than a preset first threshold distance. 
 
     
     
       15. The method of  claim 11 , further comprising:
 determining, by the vehicle-mounted device, the turning intention of the vehicle based on at least one of a turn signal of the vehicle, a navigation route, lane information, or the signal information. 
 
     
     
       16. The method of  claim 11 , further comprising:
 classifying, by the vehicle-mounted device, movement types of the candidate terminals according to positions and directions relative to the vehicle; and 
 selecting a candidate terminal having a target movement type among the candidate terminals as a terminal of interest. 
 
     
     
       17. The method of  claim 11 , wherein the determining of the risk of collision comprises:
 identifying, by the vehicle-mounted device, crosswalk areas of the intersection from the map information; 
 determining, by the vehicle-mounted device, at least one of the crosswalk areas based on a position and a direction of the terminal of the interest as an expected movement area; 
 determining, by the vehicle-mounted device, that the expected movement area is a dangerous area based on a crosswalk signal for the expected movement area; and 
 determining, by the vehicle-mounted device, the risk of collision between the vehicle and the terminal of interest in the dangerous area. 
 
     
     
       18. The method of  claim 17 , wherein the determining that the expected movement area is the dangerous area comprises determining, by the vehicle-mounted device, that the expected movement area is the dangerous area in response to the crosswalk signal being a pedestrian signal. 
     
     
       19. The method of  claim 17 , wherein the determining the risk of collision comprises determining, by the vehicle-mounted device, the risk of collision based on whether the terminal of interest has entered the dangerous area and based on a vehicle speed. 
     
     
       20. The method of  claim 17 , wherein the determining the risk of collision comprises determining, by the vehicle-mounted device, the risk of collision based on whether a direction of the terminal of interest intersects a predicted path of the vehicle within the dangerous area, and based on a vehicle speed.